Part7 - Custom msgs and srvs
ROS2 custom messages and service msg
Table of Content
Note
End/Suffix package name with _interfaces or _msgs
Create pkg#
- Create cpp package
# Default build type ament cmake
ros pkg create rosmav_msgs
package.xml#
- Add lines
<build_depend>rosidl_default_generators</build_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
CMakeLists.txt#
CMakeLists.txt
cmake_minimum_required(VERSION 3.5)
project(my_robot_interfaces)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"your custom interfaces will be here"
msgs/Attitude.msg
)
ament_package()
VSCode tips#
- Add
msgspath topython.analysis.extraPaths
pylance
"python.analysis.extraPaths": [
"/home/user/dev_ws/install/rosmav_msgs/lib/python3.8/site-packages"
]
interface cli#
Show information about ROS interfaces
- list: List all interface types available
- package: Output a list of available interface types within one package
- show: Output the interface definition
ros2 interface package rosmav_msgs
# Result
rosmav_msgs/msg/Attitude
# Show
# --- separate between request response
ros2 interface show std_srvs/srv/Trigger
---
bool success # indicate successful run of triggered service
string message # informational, e.g. for error messages